CN114355282B - Cycle slip detection method for foundation high-precision regional positioning navigation system - Google Patents
Cycle slip detection method for foundation high-precision regional positioning navigation system Download PDFInfo
- Publication number
- CN114355282B CN114355282B CN202210023745.4A CN202210023745A CN114355282B CN 114355282 B CN114355282 B CN 114355282B CN 202210023745 A CN202210023745 A CN 202210023745A CN 114355282 B CN114355282 B CN 114355282B
- Authority
- CN
- China
- Prior art keywords
- receiver
- doppler
- cycle slip
- base station
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 238000004590 computer program Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application relates to a method, a device and equipment for detecting cycle slip of a foundation high-precision regional positioning navigation system. The method comprises the following steps: according to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and Zhong Piao estimated values, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier; acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value; determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data; and if the Doppler residual error at the current moment is larger than the cycle slip detection threshold, judging that the carrier phase measured value of the corresponding base station received by the receiver is cycle slip. The method can be used for effectively detecting whether cycle slip occurs in the carrier phase measurement value of the receiver.
Description
Technical Field
The application relates to the field of foundation radio positioning navigation, in particular to a method, a device and equipment for detecting cycle slip of a foundation high-precision regional positioning navigation system.
Background
Currently, location Based Services (LBS) have become an indispensable important part in mass life, and along with expansion of service fields and diversification of service contents, various fields such as internet of vehicles and indoor positioning have put higher demands on accurate location services. In high precision positioning services, global Navigation Satellite Systems (GNSS) are the most widely used means of various positioning systems, with real-time kinematic (RTK) and precision single point positioning (PPP) being the most common modes of operation. However, in some complex environments, GNSS-based positioning services have many limitations in terms of accuracy, reliability, and continuity. People often shuttle in urban canyons consisting of tall buildings and even drive or ride cars into underground tunnels, parking lots. In the above scenario, the GNSS signal is blocked and degraded, resulting in serious degradation of its positioning accuracy and even failure to provide positioning services.
The foundation high-precision area positioning navigation system is convenient to install and can independently provide high-precision, high-reliability and high-environmental-adaptability position services in a limited area. The system can work cooperatively with the satellite navigation system and can also work independently under the conditions that the satellite navigation system is interfered, blocked and the like and cannot be used. However, in a complex urban environment, phenomena such as signal shielding, multipath reflection and the like often occur, so that signal tracking of a receiver is abnormal, and the foundation high-precision area positioning navigation system faces the cycle slip problem as other systems for realizing high-precision positioning by adopting carrier phase observance. In high-precision carrier phase measurement, a jump or interruption of the whole cycle count due to signal loss lock is called cycle slip. If a cycle slip occurs in a epoch, the observed quantity of all epochs after the epoch will increase the same deviation, thereby affecting the measurement result. Correctly detecting cycle slips is a precondition for providing a reliable high-precision location service.
In order to effectively detect cycle slip, one type of solution is to use double-frequency or three-frequency observables to combine, and to utilize redundancy of signals to enhance cycle slip detection effect, but the cost is high, the performance of the system is seriously dependent on the number of frequency points of navigation signals and the number of available base stations, so that the complexity of the system is high; another type of solution, such as the code-subtracting carrier method, has poor detection capability for small cycle slips due to the influence of measurement noise, multipath and other factors.
Disclosure of Invention
Accordingly, it is desirable to provide a method, apparatus and device for detecting cycle slip of a high-precision area positioning navigation system for foundation, which can effectively detect cycle slip.
A method for detecting cycle slip of a high-precision area positioning navigation system of a foundation, the method comprising:
According to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and Zhong Piao estimated values, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier;
Acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value;
determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data;
And if the Doppler residual error at the current moment is larger than the cycle slip detection threshold, judging that the carrier phase measured value of the corresponding base station received by the receiver is cycle slip.
In one embodiment, according to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock difference and Zhong Piao estimated values, obtain the Doppler estimated value of the current time of the receiver, including:
Wherein, The Doppler estimated value representing that the receiver receives the navigation signal of the base station i, lambda is the wavelength of the navigation signal, c is the speed of light, v and df u are the speed of the receiver at the current moment and Zhong Piao estimated value respectively, and I i is the unit observation vector.
In one embodiment, a motion equation of the motion carrier is established, and according to state parameters of the receiver at a previous time, including estimated values of position, speed, clock difference and Zhong Piao and the motion equation, an estimated value of the state parameters of the receiver at the current time is obtained:
Wherein p= (xyz) T is the three-dimensional coordinate of the receiver, v= (v e vn vu)T is the three-dimensional velocity vector of the receiver, dt u and df u are the clock difference and Zhong Piao estimated values of the receiver respectively, T s is the signal acquisition period, I is the identity matrix, and subscripts k and k+1 represent the k time and k+1 time respectively.
In one embodiment, the Doppler residual expression is:
Wherein Δd i represents the doppler residual corresponding to base station i, D i A represents the doppler observed value of the navigation signal of base station i received by the receiver, and M represents the number of base stations.
In one embodiment, determining the cycle slip detection threshold based on statistical characteristics of the doppler residual history data includes:
If the statistical characteristic of the Doppler residual error historical data is normal distribution, calculating the standard deviation of the Doppler residual error statistical data corresponding to each base station, and multiplying the standard deviation by 3 according to the 3 sigma criterion of the normal distribution to obtain a cycle slip detection threshold.
In one embodiment, if the doppler residual error at the current time is greater than the cycle slip detection threshold, determining that the cycle slip occurs in the carrier phase measurement value of the corresponding base station received by the receiver includes:
ΔDi＞DThreshold
Where Δd i denotes the doppler residual corresponding to base station i, and D Threshold denotes the cycle slip detection threshold.
A cycle slip detection device for a high-precision area positioning navigation system of a foundation, the device comprising:
The estimated value calculating module is used for obtaining a Doppler estimated value of the current moment of the receiver according to the position of the base station, the state parameters of the current moment of the receiver, including the position, the speed, the clock error and Zhong Piao estimated values; wherein the receiver is mounted on a moving carrier;
the Doppler residual error acquisition module is used for acquiring a Doppler observed value of the receiver at the current moment and acquiring Doppler residual error at the current moment according to the Doppler estimated value and the Doppler observed value;
The cycle slip detection threshold determining module is used for determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data;
and the cycle slip judging module is used for judging that the carrier phase measured value of the corresponding base station received by the receiver is cycle slip if the Doppler residual error at the current moment is larger than the cycle slip detection threshold value.
A receiver comprising a memory and a processor, the memory storing a lower computer program, the processor implementing the following steps when executing the lower computer program:
According to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and Zhong Piao estimated values, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier;
Acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value;
determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data;
And if the Doppler residual error at the current moment is larger than the cycle slip detection threshold, judging that the carrier phase measured value of the corresponding base station received by the receiver is cycle slip.
According to the method, the device and the equipment for detecting the cycle slip of the foundation high-precision area positioning navigation system, firstly, doppler estimated values at the current moment of the receiver are obtained according to the position of the base station and the state parameters of the receiver at the current moment, including the position, the speed, the clock difference and Zhong Piao estimated values; acquiring a Doppler observation value of a receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value; determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data; the Doppler residual error is used as a cycle slip detection threshold value, only single-frequency Doppler observed quantity is used, the number of frequency points of base station signals broadcast by the foundation high-precision area positioning navigation system is not relied on, the design complexity of the foundation high-precision area positioning navigation system is reduced, meanwhile, the Doppler residual error of the base station is only used during cycle slip detection, the influence of the number of available base station signals is avoided, and the scene adaptability of the foundation high-precision area positioning navigation system is enhanced; the Doppler residual error is used as a cycle slip detection threshold value, is not influenced by multipath errors in the environment, and can effectively detect whether cycle slip occurs in the carrier phase measured value of the base station received by a receiver and timely process the carrier phase measured value.
Drawings
FIG. 1 is a schematic workflow diagram of a cycle slip detection method of a high-precision area positioning navigation system of a foundation in one embodiment;
Fig. 2 is a block diagram of a cycle slip detection device of a high-precision area positioning navigation system for a foundation according to an embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, as shown in the figure, a cycle slip detection method of a high-precision area positioning navigation system of a foundation is provided, which comprises the following steps:
102, obtaining Doppler estimated value of the current time of the receiver according to the position of the base station, wherein the state parameters of the current time of the receiver comprise position, speed, clock difference and Zhong Piao estimated values; wherein the receiver is mounted on a moving carrier.
In the step, the motion carrier can be a passenger vehicle, a ship, an unmanned vehicle and the like, and the motion equation of the motion carrier can be constructed according to the motion characteristics of different motion carriers.
Because the receiver is arranged on the motion carrier, when the base station in the high-precision area positioning navigation system of the foundation and the receiver have relative motion in position, the frequency of the signal acquired by the receiver has a certain difference relative to the transmitting frequency of the base station, and the frequency difference between the two is the Doppler observation value; according to the position of the base station, the state parameters of the receiver at the current moment, including the position, the speed, the clock difference and Zhong Piao estimated values, calculate the Doppler estimated value at the current moment.
Step 104, obtaining a Doppler observed value of the receiver at the current moment, and obtaining a Doppler residual error at the current moment according to the Doppler estimated value and the Doppler observed value.
And according to the Doppler observed value of the receiver of the foundation high-precision area positioning navigation system at the current moment, performing difference calculation with the Doppler estimated value, and obtaining the Doppler residual error at the current moment.
And step 106, determining a cycle slip detection threshold according to the statistical characteristics of the Doppler residual error historical data.
The historical time is all times before the current time, doppler residual errors corresponding to the time when no cycle slip occurs in each base station before the current time form statistical data, a cycle slip detection threshold value is calculated according to the statistical characteristics of the Doppler residual error data, the observed quantity corresponding to each base station is detected by using the cycle slip detection threshold value as a judgment standard, and whether the carrier phase measured value corresponding to the detected base station has cycle slip is judged.
And step 108, if the Doppler residual error at the current moment is greater than the cycle slip detection threshold, judging that the cycle slip occurs in the carrier phase measured value of the corresponding base station received by the receiver.
When the plurality of base stations are utilized to carry out navigation and positioning of the moving carrier, if the Doppler residual error at the current moment of one base station is larger than a cycle slip detection threshold value, the carrier phase measured value of the base station received by a receiver is judged to have cycle slip.
According to the method, the device and the equipment for detecting the cycle slip of the foundation high-precision area positioning navigation system, firstly, doppler estimated values at the current moment of the receiver are obtained according to the position of the base station and the state parameters of the receiver at the current moment, including the position, the speed, the clock difference and Zhong Piao estimated values; acquiring a Doppler observation value of a receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value; determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data; the Doppler residual error is used as a cycle slip detection threshold value, only single-frequency Doppler observed quantity is used, the number of frequency points of base station signals broadcast by the foundation high-precision area positioning navigation system is not relied on, the design complexity of the foundation high-precision area positioning navigation system is reduced, meanwhile, the Doppler residual error of the base station is only used during cycle slip detection, the influence of the number of available base station signals is avoided, and the scene adaptability of the foundation high-precision area positioning navigation system is enhanced; the Doppler residual error is used as a cycle slip detection threshold value, is not influenced by multipath errors in the environment, and can effectively detect whether cycle slip occurs in the carrier phase measured value of the base station received by a receiver and timely process the carrier phase measured value.
In one embodiment, obtaining the estimated doppler value of the current time according to the position of the base station and the estimated value of the state parameter of the current time of the receiver includes:
Wherein, The Doppler estimated value representing that the receiver receives the navigation signal of the base station i, lambda is the wavelength of the navigation signal, c is the speed of light, v and df u are the speed of the receiver at the current moment and Zhong Piao estimated value respectively, and I i is the unit observation vector.
Wherein, i i represents a unit observation vector of the base station i at the receiver, including:
p i＝(xi yi zi)T is the three-dimensional coordinates of base station i, r i is the geometric distance between the receiver and the positioning base station i, comprising:
In one embodiment, a motion equation of the motion carrier is established, and an estimated value of the state parameter of the receiver at the current moment is obtained according to the state parameter of the receiver at the previous moment, including the estimated values of the position, the speed, the clock difference and Zhong Piao, and the motion equation; the carrier motion equation comprises a constant velocity motion equation, a constant acceleration motion equation and the like, and can also construct a more accurate carrier motion equation according to the carrier acceleration and the angular velocity measured by an Inertial Measurement Unit (IMU). For carriers with low dynamic performance such as pedestrians, vehicles, ships and the like, the motion equation can be expressed by a constant speed motion equation:
Wherein p= (xyz) T is the three-dimensional coordinate of the receiver, v= (v e vn vu)T is the three-dimensional velocity vector of the receiver, dt u and df u are the clock difference and Zhong Piao estimated values of the receiver respectively, T s is the signal acquisition period, I is the identity matrix, and subscripts k and k+1 represent the k time and k+1 time respectively.
The motion carrier in the present application includes, but is not limited to, a constant velocity model, and different models may be adopted according to the type of the motion carrier, in this embodiment, the motion equation of the motion carrier generally adopts the constant velocity motion model, if the state parameters of the previous moment, including the position, the velocity, the receiver clock difference and Zhong Piao estimated values, are all unbiased estimated values, the Doppler estimated value at the current moment should also be unbiased, so that the Doppler residual error can be used as the cycle slip detection quantity.
In one embodiment, the Doppler residual expression is
Wherein DeltaD i represents the Doppler residual corresponding to base station i,The Doppler observation value of the navigation signal of the base station i received by the receiver is represented, and M represents the number of the base stations.
In one embodiment, determining the cycle slip detection threshold based on statistical characteristics of the doppler residual history data includes:
If the statistical characteristic of the Doppler residual error historical data is normal distribution, calculating the standard deviation of the Doppler residual error statistical data corresponding to each base station, and multiplying the standard deviation by 3 according to the 3 sigma criterion of the normal distribution to obtain a cycle slip detection threshold.
In the running process of the foundation high-precision area positioning navigation system, if no cycle slip occurs in the base station at the current moment, adding the Doppler residual error of the base station at the current moment into the Doppler residual error statistical data to perform the calculation mode, obtaining a new cycle slip detection threshold value, and using the new cycle slip detection threshold value as a cycle slip detection standard of the base station at the next moment. It is thus known that the cycle slip detection threshold is updated continuously over time and that the cycle slip detection threshold is updated over time closer to the real case.
In one embodiment, if the doppler residual error at the current moment is greater than the cycle slip detection threshold, determining that the cycle slip occurs in the base station includes:
ΔDi＞DThreshold
Where Δd i denotes the doppler residual corresponding to base station i, and D Threshold denotes the cycle slip detection threshold.
And if the Doppler residual error corresponding to the base station i at the current moment is larger than the cycle slip detection threshold, judging that the cycle slip occurs in the carrier phase measured value of the base station i received by the receiver.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 2, there is provided a cycle slip detection device of a high-precision area positioning navigation system for a foundation, including: a calculate estimate module 202, an acquire doppler residual module 204, a determine cycle slip detection threshold module 206, and a determine cycle slip module 208, wherein:
The estimated value calculating module 202 is configured to obtain a doppler estimated value of the current time of the receiver according to the position of the base station, where the state parameter of the current time of the receiver includes the position, the speed, the clock difference and Zhong Piao estimated values; wherein the receiver is mounted on a moving carrier;
the Doppler residual error acquisition module 204 is configured to acquire a Doppler observed value at a current time of the receiver, and obtain a Doppler residual error at the current time according to the Doppler estimated value and the Doppler observed value;
a cycle slip detection threshold determination module 206, configured to determine a cycle slip detection threshold according to statistical characteristics of the doppler residual error history data;
And the cycle slip judging module 208 is configured to judge that the carrier phase measurement value of the corresponding base station received by the receiver is cycle-slip if the doppler residual error at the current moment is greater than the cycle slip detection threshold.
In one embodiment, the estimated value calculating module 202 is further configured to establish a motion equation of the motion carrier, and obtain, according to the state parameters of the receiver at the current time, the estimated value of the state parameters of the receiver at the current time, including the estimated values of the position, the speed, the clock difference and Zhong Piao, and the motion equation:
Wherein p= (xyz) T is the three-dimensional coordinate of the receiver, v= (v e vn vu)T is the three-dimensional velocity vector of the receiver, dt u and df u are the clock difference and Zhong Piao estimated values of the receiver respectively, T s is the signal acquisition period, I is the identity matrix, and subscripts k and k+1 represent the k time and k+1 time respectively.
In one embodiment, the calculating an estimated value module 202 obtains a doppler estimated value of the current time of the receiver according to the position of the base station, the state parameters of the current time of the receiver including the position, the speed, the clock difference and Zhong Piao estimated values, including:
Wherein, The Doppler estimated value representing that the receiver receives the navigation signal of the base station i, lambda is the wavelength of the navigation signal, c is the speed of light, v and df u are the speed of the receiver at the current moment and Zhong Piao estimated value respectively, and I i is the unit observation vector.
In one embodiment, the Doppler residual expression is:
Wherein DeltaD i represents the Doppler residual corresponding to base station i, The Doppler observation value of the navigation signal of the base station i received by the receiver is represented, and M represents the number of the base stations.
The determine cycle slip detection threshold module 206 is further configured to determine a cycle slip detection threshold according to statistical characteristics of the doppler residual history data, including:
If the statistical characteristic of the Doppler residual error historical data is normal distribution, calculating the standard deviation of the Doppler residual error statistical data corresponding to each base station, and multiplying the standard deviation by 3 according to the 3 sigma criterion of the normal distribution to obtain a cycle slip detection threshold.
In one embodiment, the determining cycle slip module 208 is further configured to determine that the carrier phase measurement of the base station received by the receiver is cycle-slip if the doppler residual at the current time is greater than a cycle-slip detection threshold, where the determining cycle-slip includes:
ΔDi＞DThreshold
Where Δd i denotes the doppler residual corresponding to base station i, and D Threshold denotes the cycle slip detection threshold.
The specific limitation of the cycle slip detection device of the high-precision area positioning navigation system of a foundation can be referred to as the limitation of the cycle slip detection method of the high-precision area positioning navigation system of a foundation, and the description is omitted here. The modules in the cycle slip detection device of the foundation high-precision area positioning navigation system can be all or partially realized by software, hardware and a combination thereof. The modules can be embedded in a processor of the receiver in a software form, and can also be stored in a memory of the receiver in a software form, so that the processor can call and execute the operations corresponding to the modules.
In one embodiment, a receiver is provided, comprising a memory storing a lower computer program and a processor implementing the following steps when executing the lower computer program:
According to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and Zhong Piao estimated values, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier;
Acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value;
determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data;
And if the Doppler residual error at the current moment is larger than the cycle slip detection threshold, judging that the carrier phase measured value of the corresponding base station received by the receiver is cycle slip.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (6)
1. The method for detecting the cycle slip of the foundation high-precision area positioning navigation system is characterized by comprising the following steps of:
according to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and Zhong Piao estimated values, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier;
acquiring a Doppler observation value of a receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value;
determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data;
And if the Doppler residual error at the current moment is larger than the cycle slip detection threshold, judging that the cycle slip occurs to the carrier phase measured value of the corresponding base station received by the receiver.
2. The method of claim 1 wherein the obtaining the doppler estimate for the current time of the receiver based on the location of the base station and the state parameters of the current time of the receiver including the location, the velocity, the clock bias, and the Zhong Piao estimates comprises:
Wherein, The Doppler estimated value representing that the receiver receives the navigation signal of the base station i, lambda is the wavelength of the navigation signal, c is the speed of light, v and df u are the speed of the receiver at the current moment and Zhong Piao estimated value respectively, and I i is the unit observation vector.
3. The method according to claim 1, wherein the method further comprises:
Establishing a motion equation of the motion carrier, and obtaining an estimated value of the state parameter of the current moment of the receiver according to the state parameter of the last moment of the receiver, including the estimated values of the position, the speed, the clock difference and Zhong Piao and the motion equation:
Wherein p= (xyz) T is the three-dimensional coordinate of the receiver, v= (v e vn vu)T is the three-dimensional velocity vector of the receiver, dt u and df u are the clock difference and Zhong Piao estimated values of the receiver respectively, T s is the signal acquisition period, I is the identity matrix, and subscripts k and k+1 represent the k time and k+1 time respectively.
4. The method of claim 1, wherein the doppler residual expression is:
Wherein DeltaD i represents the Doppler residual corresponding to base station i, The Doppler observation value of the navigation signal of the base station i is received by a receiver, and M represents the number of the base stations;
determining a cycle slip detection threshold according to statistical characteristics of Doppler residual history data, including:
If the statistical characteristic of the Doppler residual error historical data is normal distribution, calculating the standard deviation of the Doppler residual error statistical data corresponding to each base station, and multiplying the standard deviation by 3 according to the 3 sigma criterion of the normal distribution to obtain the cycle slip detection threshold.
5. The method of claim 1, wherein determining that the carrier phase measurement of the corresponding base station received by the receiver is cycle-hopped if the doppler residual at the current time is greater than the cycle-hop detection threshold comprises:
ΔDi＞DThreshold
Where Δd i denotes the doppler residual corresponding to base station i, and D Threshold denotes the cycle slip detection threshold.
6. A receiver comprising a memory and a processor, the memory storing a lower computer program, characterized in that the processor, when executing the lower computer program, implements the steps of the method of any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210023745.4A CN114355282B (en) | 2022-01-10 | 2022-01-10 | Cycle slip detection method for foundation high-precision regional positioning navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210023745.4A CN114355282B (en) | 2022-01-10 | 2022-01-10 | Cycle slip detection method for foundation high-precision regional positioning navigation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114355282A CN114355282A (en) | 2022-04-15 |
| CN114355282B true CN114355282B (en) | 2024-06-04 |
Family
ID=81108509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210023745.4A Active CN114355282B (en) | 2022-01-10 | 2022-01-10 | Cycle slip detection method for foundation high-precision regional positioning navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114355282B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101705882B1 (en) * | 2015-10-05 | 2017-02-10 | 한국해양과학기술원 | Apparatus for detecting cycle slip using position information of receiver in reference station environment and the method thereof |
| CN110531390A (en) * | 2019-07-30 | 2019-12-03 | 湘潭大学 | Doppler's integration method combines ionospheric residual method detection and repairs cycle slip |
| CN111982121A (en) * | 2020-08-21 | 2020-11-24 | 中国科学院精密测量科学与技术创新研究院 | High-precision positioning method in mixed-line-of-sight and non-line-of-sight environment |
| WO2021064939A1 (en) * | 2019-10-03 | 2021-04-08 | 三菱電機株式会社 | Satellite signal receiving device and position measurement device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10578747B2 (en) * | 2017-12-14 | 2020-03-03 | Swift Navigation, Inc. | Systems and methods for reduced-outlier satellite positioning |
-
2022
- 2022-01-10 CN CN202210023745.4A patent/CN114355282B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101705882B1 (en) * | 2015-10-05 | 2017-02-10 | 한국해양과학기술원 | Apparatus for detecting cycle slip using position information of receiver in reference station environment and the method thereof |
| CN110531390A (en) * | 2019-07-30 | 2019-12-03 | 湘潭大学 | Doppler's integration method combines ionospheric residual method detection and repairs cycle slip |
| WO2021064939A1 (en) * | 2019-10-03 | 2021-04-08 | 三菱電機株式会社 | Satellite signal receiving device and position measurement device |
| CN111982121A (en) * | 2020-08-21 | 2020-11-24 | 中国科学院精密测量科学与技术创新研究院 | High-precision positioning method in mixed-line-of-sight and non-line-of-sight environment |
Non-Patent Citations (2)
| Title |
|---|
| Range–Doppler reconstruction for frequency agile and PRF-jittering radar;Quan, Ying-Hui;IET RADAR SONAR AND NAVIGATION;20181231;全文 * |
| 复杂环境下RTK定位可靠性的研究;程归;CNKI硕士学位论文;20230215;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114355282A (en) | 2022-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107315413B (en) | Multi-vehicle cooperative positioning algorithm considering relative positions between vehicles in vehicle-vehicle communication environment | |
| US9207086B2 (en) | Method for determining location of vehicle | |
| CN105487088B (en) | RAIM algorithms based on Kalman filtering in a kind of satellite navigation system | |
| CN114363819B (en) | Cycle slip repairing method for high-precision area positioning navigation system of foundation | |
| US6609080B1 (en) | Multiple-model navigation filter with hybrid positioning | |
| WO2008030213A2 (en) | Automatic past error corrections for location and inventory tracking | |
| CN103592657B (en) | A kind of low visible star single-mode RAIM implementation method based on clock correction auxiliary | |
| US11513236B2 (en) | Positioning device | |
| US20230025795A1 (en) | Method for Detecting the Presence of Interference During GNSS-Based and INS-Based Localization of a Vehicle | |
| CN115453579A (en) | Beidou PPP-RTK-based synthetic ephemeris A fault integrity monitoring method and device | |
| KR20040072448A (en) | Apparatus and method for calculating satellite acquisition information to measure position of mobile station | |
| WO2005003809A1 (en) | A method for the location of mobile terminals | |
| WO2020149014A1 (en) | Satellite selection device and program | |
| CN114355282B (en) | Cycle slip detection method for foundation high-precision regional positioning navigation system | |
| RU2667672C2 (en) | Advanced method for determining position and/or speed of a guided vehicle, corresponding system | |
| US20230266480A1 (en) | Method for Determining an Integrity Datum regarding a GNSS-Based Localization of a Vehicle | |
| JP2010112759A (en) | Mobile body positioning apparatus | |
| CN114966757A (en) | Method for positioning a vehicle based on GNSS | |
| Betaille et al. | 3D-city-model-aided GNSS accurate positioning with integrity provision using simplified geometry of buildings | |
| Cannon | Integrated GPS-INS for high-accuracy road positioning | |
| US12111403B2 (en) | Error and integrity evaluation via motion prediction | |
| WO2024075498A1 (en) | Localization method and localization device | |
| KR102472785B1 (en) | Apparatus and method for screening doppler measurement fault, and apparatus and method for detecting gnss measurement fault | |
| CN118131277B (en) | GNSS spoofing detection system based on virtual anchor points | |
| WO2024214215A1 (en) | Positioning device, positioning method, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |